Papers

A large-scale mobile robot (LSMR) is a high-order multibody system that often operates on loose, unconsolidated terrain, which reduces traction. This paper presents a comprehensive navigation and control framework for an LSMR that ensures stability and safety-defined performance, delivering robust operation on slip-prone terrain by jointly leveraging high-performance techniques. The proposed architecture comprises four main modules: (1) a visual pose-estimation module that fuses onboard sensors and stereo cameras to provide an accurate, low-latency robot pose, (2) a high-level nonlinear model predictive control that updates the wheel motion commands to correct robot drift from the robot reference pose on slip-prone terrain, (3) a low-level deep neural network control policy that approximates the complex behavior of the wheel-driven actuation mechanism in LSMRs, augmented with robust adaptive control to handle out-of-distribution disturbances, ensuring that the wheels accurately track the updated commands issued by high-level control module, and (4) a logarithmic safety module to monitor the entire robot stack and guarantees safe operation. The proposed low-level control framework guarantees uniform exponential stability of the actuation subsystem, while the safety module ensures the whole system-level safety during operation. Comparative experiments on a 6,000 kg LSMR actuated by two complex electro-hydrostatic drives, while synchronizing modules operating at different frequencies.

Stability analysis of switched systems, characterized by multiple operational modes and switching signals, is challenging due to their nonlinear dynamics. While frameworks such as multiple Lyapunov functions (MLF) provide a foundation for analysis, their computational applicability is limited for systems without favorable structure. This paper investigates stability analysis for switched systems under state-dependent switching conditions. We propose neural multiple Lyapunov functions (NMLF), a unified framework that combines the theoretical guarantees of MLF with the computational efficiency of neural Lyapunov functions (NLF). Our approach leverages a set of tailored loss functions and a counter-example guided inductive synthesis (CEGIS) scheme to train neural networks that rigorously satisfy MLF conditions. Through comprehensive simulations and theoretical analysis, we demonstrate NMLF's effectiveness and its potential for practical deployment in complex switched systems.

Maximizing the Kullback-Leibler divergence (KLD) is a fundamental problem in waveform design for active sensing and hypothesis testing, as it directly relates to the error exponent of detection probability. However, the associated optimization problem is highly nonconvex due to the intricate coupling of log-determinant and matrix trace terms. Existing solutions often suffer from high computational complexity, typically requiring matrix inversion at every iteration. In this paper, we propose a computationally efficient optimization framework based on fractional programming (FP). Our key idea is to reformulate the KLD maximization problem into a sequence of tractable quadratic subproblems using matrix FP. To further reduce complexity, we introduce a nonhomogeneous relaxation technique that replaces the costly linear system solver with a simple closed-form update, thereby reducing the per-iteration complexity to quadratic order. To compensate for the convergence speed trade-off caused by relaxation, we employ an acceleration method called STEM by interpreting the iterative scheme as a fixed-point mapping. The resulting algorithm achieves significantly faster convergence rates with low per-iteration cost. Numerical results demonstrate that our approach reduces the total runtime by orders of magnitude compared to a state-of-the-art benchmark. Finally, we apply the proposed framework to a multiple random access scenario and a joint integrated sensing and communication scenario, validating the efficacy of our framework in such applications.

Large-scale multilingual ASR (mASR) models such as Whisper achieve strong performance but incur high computational and latency costs, limiting their deployment on resource-constrained edge devices. In this study, we propose a lightweight and language-agnostic multilingual ASR system based on a CTC architecture with domain adaptation. Specifically, we introduce a Language-agnostic Hierarchical LoRA-MoE (HLoRA) framework integrated into an mHuBERT-CTC model, enabling end-to-end decoding via LID-posterior-driven LoRA routing. The hierarchical design consists of a multilingual shared LoRA for learning language-invariant acoustic representations and language-specific LoRA experts for modeling language-dependent characteristics. The proposed routing mechanism removes the need for prior language identity information or explicit language labels during inference, achieving true language-agnostic decoding. Experiments on MSR-86K and the MLC-SLM 2025 Challenge datasets demonstrate that HLoRA achieves comparable performance to two-stage inference approaches while reducing RTF by 11.7% and 8.2%, respectively, leading to improved decoding efficiency for low-resource mASR applications.

The rapid proliferation of Internet of Things (IoT) technologies, projected to exceed 30 billion interconnected devices by 2030, has significantly escalated the complexity of cybersecurity challenges. This survey aims to provide a comprehensive analysis of vulnerabilities, threats, and defense mechanisms, specifically focusing on the integration of network and application layers within real-time monitoring and decision-making systems. Employing an integrative review methodology, 59 scholarly articles published between 2009 and 2024 were selected from databases such as IEEE Xplore, ScienceDirect, and PubMed, utilizing keywords related to IoT vulnerabilities and security attacks. Key findings identify critical threat categories, including sensor vulnerabilities, Denial-of-Service (DoS) attacks, and public cloud insecurity. Conversely, the study highlights advanced defense approaches leveraging Artificial Intelligence (AI) for anomaly detection, Blockchain for decentralized trust, and Zero Trust Architecture (ZTA) for continuous verification. This paper contributes a novel five-layer IoT model and outlines future research directions involving quantum computing and 6G networks to bolster IoT ecosystem resilience.

This paper presents a decentralized control framework for distribution matching in multi-agent systems (MAS), where agents collectively achieve a prescribed terminal spatial distribution. The problem is formulated using optimal transport (Wasserstein distance), which provides a principled measure of distributional discrepancy and serves as the basis for the control design. To avoid solving the global optimal transport problem directly, the distribution-matching objective is reformulated into a tractable per-agent decision process, enabling each agent to identify its desired terminal locations using only locally available information. A sequential weight-update rule is introduced to construct feasible local transport plans, and a memory-based correction mechanism is incorporated to maintain reliable operation under intermittent and range-limited communication. Convergence guarantees are established, showing cycle-wise improvement of a surrogate transport cost under both linear and nonlinear agent dynamics. Simulation results demonstrate that the proposed framework achieves effective and scalable distribution matching while operating fully in a decentralized manner.

Multi-functional reconfigurable intelligent surface (MF-RIS) is conceived to address the communication efficiency thanks to its extended signal coverage from its active RIS capability and self-sustainability from energy harvesting (EH). We investigate the architecture of multi-MF-RISs to assist non-orthogonal multiple access (NOMA) downlink networks. We formulate an energy efficiency (EE) maximization problem by optimizing power allocation, transmit beamforming and MF-RIS configurations of amplitudes, phase-shifts and EH ratios, as well as the position of MF-RISs, while satisfying constraints of available power, user rate requirements, and self-sustainability property. We design a parametrized sharing scheme for multi-agent hybrid deep reinforcement learning (PMHRL), where the multi-agent proximal policy optimization (PPO) and deep-Q network (DQN) handle continuous and discrete variables, respectively. The simulation results have demonstrated that proposed PMHRL has the highest EE compared to other benchmarks, including cases without parametrized sharing, pure PPO and DQN. Moreover, the proposed multi-MF-RISs-aided downlink NOMA achieves the highest EE compared to scenarios of no-EH/amplification, traditional RISs, and deployment without RISs/MF-RISs under different multiple access.

Current navigation systems conflate time-to-drive with the true time-to-arrive by ignoring parking search duration and the final walking leg. Such underestimation can significantly affect user experience, mode choice, congestion, and emissions. To address this issue, this paper introduces the probability-aware parking selection problem, which aims to direct drivers to the best parking location rather than straight to their destination. An adaptable dynamic programming framework is proposed that leverages probabilistic, lot-level availability to minimize the expected time-to-arrive. Closed-form analysis determines when it is optimal to target a specific parking lot or explore alternatives, as well as the expected time cost. Sensitivity analysis and three illustrative cases are examined, demonstrating the model's ability to account for the dynamic nature of parking availability. Given the high cost of permanent sensing infrastructure, we assess the error rates of using stochastic observations to estimate availability. Experiments with real-world data from the US city of Seattle indicate this approach's viability, with mean absolute error decreasing from 7% to below 2% as observation frequency increases. In data-based simulations, probability-aware strategies demonstrate time savings up to 66% relative to probability-unaware baselines, yet still take up to 123% longer than time-to-drive estimates.

Filters from the Gammatone family are often used to model auditory signal processing, but the filter constant values used to mimic human hearing are largely set to values based on historical psychoacoustic data collected several decades ago. Here, we move away from this long-standing convention, and estimate filter constants using a range of more recent reported filter characteristics (such as quality factors and ratios between quality factors and peak group delay) within a characteristics-based framework that clarifies how filter behavior is related to the underlying constants. Using a sharp-filter approximation that captures shared peak-region behavior across certain classes of filters, we analyze the range of behaviors accessible when the full degrees of freedom of the filter are utilized rather than fixing the filter order or exponent to historically prescribed values. Filter behavior is characterized using magnitude-based and phase-based characteristics and their ratios, which reveal which characteristics are informative for constraining filter constants and which are only weakly constraining. We show that these insights and estimation methods extend to multiple realizable filter classes from the Gammatone family and apply them, together with recent physiological and psychoacoustic observations, to derive constraints on and estimates for filter constants for human auditory filters. More broadly, this framework supports the design of auditory filters with arbitrary characteristic-level specifications and enables systematic assessment of how variations in filter characteristics influence auditory models, perceptual findings, and technologies that rely on auditory filterbanks.

The Electric Autonomous Dial-a-Ride Problem (E-ADARP) involves routing and scheduling electric autonomous vehicles under battery capacity and partial recharging constraints, aiming to minimize total travel cost and excess ride time. In practice, operational data for time and state-of-charge (SoC) are often available only at a coarse granularity. This raises a natural question: can discretization be exploited to improve computational performance by enabling alternative formulation structures? To investigate this question, we develop three formulations reflecting different levels of discretization. The first is an improved event-based formulation (IEBF) with arc-flow SoC variables for the continuous-parameter E-ADARP, serving as a strengthened baseline. The latter two are fragment-based formulations designed for discretized inputs. The second is a time-space fragment-based formulation with continuous SoC arc-flow variables (TSFFCS), which discretizes time while keeping SoC continuous. The third is a battery-time-space fragment-based formulation (BTSFF), which discretizes both time and SoC. Here, an event denotes a tuple consisting of a location and a set of onboard customers, while a fragment denotes a partial path. Computational results show that IEBF improves upon the existing event-based formulation for the original E-ADARP. Under discretized settings, TSFFCS tends to outperform IEBF, particularly when recharging is frequent and time discretization is relatively coarse, indicating that time discretization can improve computational performance across a wide range of settings. In contrast, BTSFF rarely outperforms TSFFCS unless the number of reachable SoC levels is limited, suggesting that explicit SoC discretization is beneficial only in relatively restricted settings.

Large Language Models (LLMs) are increasingly used as high level controllers for autonomous Unmanned Aerial Vehicle (UAV) missions. However, existing evaluations rarely assess whether such agents remain safe, protocol compliant, and effective under realistic next generation networking constraints. This paper introduces $\alpha^3$-Bench, a benchmark for evaluating LLM driven UAV autonomy as a multi turn conversational reasoning and control problem operating under dynamic 6G conditions. Each mission is formulated as a language mediated control loop between an LLM based UAV agent and a human operator, where decisions must satisfy strict schema validity, mission policies, speaker alternation, and safety constraints while adapting to fluctuating network slices, latency, jitter, packet loss, throughput, and edge load variations. To reflect modern agentic workflows, $\alpha^3$-Bench integrates a dual action layer supporting both tool calls and agent to agent coordination, enabling evaluation of tool use consistency and multi agent interactions. We construct a large scale corpus of 113k conversational UAV episodes grounded in UAVBench scenarios and evaluate 17 state of the art LLMs using a fixed subset of 50 episodes per scenario under deterministic decoding. We propose a composite $\alpha^3$ metric that unifies six pillars: Task Outcome, Safety Policy, Tool Consistency, Interaction Quality, Network Robustness, and Communication Cost, with efficiency normalized scores per second and per thousand tokens. Results show that while several models achieve high mission success and safety compliance, robustness and efficiency vary significantly under degraded 6G conditions, highlighting the need for network aware and resource efficient LLM based UAV agents. The dataset is publicly available on GitHub : https://github.com/maferrag/AlphaBench

Semantic segmentation is crucial for medical image analysis, enabling precise disease diagnosis and treatment planning. However, many advanced models employ complex architectures, limiting their use in resource-constrained clinical settings. This paper proposes MFEnNet, an efficient medical image segmentation framework that incorporates MetaFormer in the encoding phase of the U-Net backbone. MetaFormer, an architectural abstraction of vision transformers, provides a versatile alternative to convolutional neural networks by transforming tokenized image patches into sequences for global context modeling. To mitigate the substantial computational cost associated with self-attention, the proposed framework replaces conventional transformer modules with pooling transformer blocks, thereby achieving effective global feature aggregation at reduced complexity. In addition, Swish activation is used to achieve smoother gradients and faster convergence, while spatial pyramid pooling is incorporated at the bottleneck to improve multi-scale feature extraction. Comprehensive experiments on different medical segmentation benchmarks demonstrate that the proposed MFEnNet approach attains competitive accuracy while significantly lowering computational cost compared to state-of-the-art models. The source code for this work is available at https://github.com/tranleanh/mfennet.

The impact of both multiplicative and additive hardware impairments (HWIs) on multiple-input multiple-output affine frequency division multiplexing (MIMO-AFDM) systems is investigated. For small-scale MIMO-AFDM systems, a tight bit error rate (BER) upper bound associated with the maximum likelihood (ML) detector is derived. By contrast, for large-scale systems, a closed-form BER approximation associated with the linear minimum mean squared error (LMMSE) detector is presented, including realistic imperfect channel estimation scenarios. Our first key observation is that the full diversity order of a hardware-impaired AFDM system remains unaffected, which is a unique advantage. Furthermore, our analysis shows that 1) the BER results derived accurately predict the simulated ML performance in moderate-to-high signal-to-noise ratios (SNRs), while the theoretical BER curve of the LMMSE detector closely matches that of the Monte-Carlo based one. 2) MIMO-AFDM is more resilient to multiplicative distortions, such as phase noise and carrier frequency offset, compared to its orthogonal frequency division multiplexing (OFDM) counterparts. This is attributed to its inherent chirp signal characteristics; 3) MIMO-AFDM consistently achieves superior BER performance compared to conventional MIMO-OFDM systems under the same additive HWI conditions, as well as different velocity values. The latter is because MIMO-AFDM is also resilient to the additional inter-carrier interference (ICI) imposed by the nonlinear distortions of additive HWIs. In a nutshell, compared to OFDM, AFDM demonstrates stronger ICI resilience and achieves the maximum full diversity attainable gain even under HWIs, thanks to its intrinsic chirp signalling structure as well as to the beneficial spreading effect of the discrete affine Fourier transform.

Despite significant advancement in technology, communication and computational failures are still prevalent in safety-critical engineering applications. Often, networked control systems experience packet dropouts, leading to open-loop behavior that significantly affects the behavior of the system. Similarly, in real-time control applications, control tasks frequently experience computational overruns and thus occasionally no new actuator command is issued. This article addresses the safety verification and controller synthesis problem for a class of control systems subject to weakly-hard constraints, i.e., a set of window-based constraints where the number of failures are bounded within a given time horizon. The results are based on a new notion of graph-based barrier functions that are specifically tailored to the considered system class, offering a set of constraints whose satisfaction leads to safety guarantees despite such failures. Subsequent reformulations of the safety constraints are proposed to alleviate conservatism and improve computational tractability, and the resulting trade-offs are discussed. Finally, several numerical case studies including linear and polynomial systems demonstrate the effectiveness of the proposed approach.

Manual annotation of spike-wave discharges (SWDs), the electrographic hallmark of absence seizures, is labor-intensive for long-term electroencephalography (EEG) monitoring studies. While machine learning approaches show promise for automated detection, they often struggle with cross-subject generalization due to high inter-individual variability in seizure morphology and signal characteristics. In this study we compare the performance of 15 machine learning classifiers on our own manually annotated dataset of 961 hours of EEG recordings from C3H/HeJ mice, including 22,637 labeled SWDs and find that a 1D U-Net performs the best. We then improve its performance by employing residual connections and data augmentation strategies combining amplitude scaling, Gaussian noise injection, and signal inversion during training to enhance cross-subject generalization. We also compare our method, named AugUNet1D, to a recently published time- and frequency-based algorithmic approach called "Twin Peaks" and show that AugUNet1D performs better on our dataset. AugUNet1D, pretrained on our manually annotated data or untrained, is made public for other users.

In recent years, Compute-in-memory (CiM) architectures have emerged as a promising solution for deep neural network (NN) accelerators. Multiply-accumulate~(MAC) is considered a {\textit de facto} unit operation in NNs. By leveraging the inherent parallel processing capabilities of CiM, NNs that require numerous MAC operations can be executed more efficiently. This is further facilitated by storing the weights in SRAM, reducing the need for extensive data movement and enhancing overall computational speed and efficiency. Traditional CiM architectures execute MAC operations in the analog domain, employing an Analog-to-Digital converter (ADC) to convert the analog MAC values into digital outputs. However, these ADCs introduce significant increase in area and power consumption, as well as introduce non-linearities. This work proposes a resonant time-domain compute-in-memory (TDC-CiM) architecture that eliminates the need for an ADC by using a time-to-digital converter (TDC) to digitize analog MAC results with lower power and area cost. A dedicated 8T SRAM cell enables reliable bitwise MAC operations, while the readout uses a 4-bit TDC with pulse-shrinking delay elements, achieving 1 GS/s sampling with a power consumption of only 1.25 mW. In addition, a weight stationary data mapping strategy combined with an automated SRAM macro selection algorithm enables scalable and energy-efficient deployment across CNN workloads. Evaluation across six CNN models shows that the algorithm reduces inference energy consumption by up to 8x when scaling SRAM size from 32~KB to 256~KB, while maintaining minimal accuracy loss after quantization. The feasibility of the proposed architecture is validated on an 8~KB SRAM memory array using TSMC 28~nm technology. The proposed TDC-CiM architecture demonstrates a throughput of 320~GOPS with an energy efficiency of 38.46~TOPS/W.

Insufficient link budget has become a bottleneck problem for direct access in current satellite communications. In this paper, we develop a semantic transmission framework for direct satellite communications as an effective and viable solution to tackle this problem. To measure the tradeoffs between communication, computation, and generation quality, we introduce a semantic efficiency metric with optimized weights. The optimization aims to maximize the average semantic efficiency metric by jointly optimizing transmission mode selection, satellite-user association, ISL task migration, denoising steps, and adaptive weights, which is a complex nonlinear integer programming problem. To maximize the average semantic efficiency metric, we propose a decision-assisted REINFORCE++ algorithm that utilizes feasibility-aware action space and a critic-free stabilized policy update. Numerical results show that the proposed algorithm achieves higher semantic efficiency than baselines.

Melanoma is the most lethal subtype of skin cancer, and early and accurate detection of this disease can greatly improve patients' outcomes. Although machine learning models, especially convolutional neural networks (CNNs), have shown great potential in automating melanoma classification, their diagnostic reliability still suffers due to inconsistent focus on lesion areas. In this study, we analyze the relationship between lesion attention and diagnostic performance, involving masked images, bounding box detection, and transfer learning. We used multiple explainability and sensitivity analysis approaches to investigate how well models aligned their attention with lesion areas and how this alignment correlated with precision, recall, and F1-score. Results showed that models with a higher focus on lesion areas achieved better diagnostic performance, suggesting the potential of interpretable AI in medical diagnostics. This study provides a foundation for developing more accurate and trustworthy melanoma classification models in the future.

Digital Audio Workstations (DAWs) are central to modern music production but often encumber the musician's workflow, tethering them to a desk and hindering natural interaction with their instrument. Furthermore, effective remote collaboration remains a significant challenge, with existing solutions hampered by network latency and asynchronous file sharing. This paper investigates the potential of Mixed Reality (MR) to overcome these barriers, creating an intuitive environment for real-time, remote musical collaboration. We employ qualitative and speculative design techniques to better understand: 1) how players currently use DAWs, and 2) to imagine a speculative future of collaborative MR-DAWs. To facilitate this discussion, we developed and evaluated the usability of a design probe, MR-DAW. An MR system enabling multiple, geographically dispersed users to control a single, shared DAW instance while moving freely in their local spaces. Our networked system enables each remote musician to use a physical foot pedal for collaborative looping, merging a familiar, hands-free interaction with a shared virtual session. Based on interviews and system evaluations with 20 musicians, we analyze current practices, report on the user experience with our MR system, and speculate on the future of musical collaboration in MR. Our results highlight the affordances of MR for unencumbered musical interaction and provide a speculative outlook on the future of remote collaborative DAWs in the Musical Metaverse.

In robotics and multi-agent systems, fleets of autonomous agents often operate in subtly different environments while pursuing a common high-level objective. Directly pooling their data to learn a shared reward function is typically impractical due to differences in dynamics, privacy constraints, and limited communication bandwidth. This paper introduces an optimal transport-based approach to federated inverse reinforcement learning (IRL). Each client first performs lightweight Maximum Entropy IRL locally, adhering to its computational and privacy limitations. The resulting reward functions are then fused via a Wasserstein barycenter, which considers their underlying geometric structure. We further prove that this barycentric fusion yields a more faithful global reward estimate than conventional parameter averaging methods in federated learning. Overall, this work provides a principled and communication-efficient framework for deriving a shared reward that generalizes across heterogeneous agents and environments.

The decarbonization of the energy sector has led to a significant high penetration of distributed energy resources (DERs), particularly photovoltaic (PV) systems, in low-voltage (LV) distribution networks. To maintain grid stability, recent standards (e.g., IEEE 1547-2018) mandate DERs to provide grid-support functionalities through smart inverters (SIs), which typically operate autonomously based on local measurements. However, as DER penetration increases, uncoordinated control modes of SIs can lead to adverse interactions, compromising system efficiency, voltage regulation, and overall stability. While previous studies have demonstrated the benefits of coordinated inverter control and optimal dispatch strategies, the system-wide impacts of heterogeneous SI groups operating under different control modes remain largely unexamined. This paper addresses this gap by assessing the dynamic interactions among multiple SI groups with varying control strategies, namely: Constant Power Factor (CPF), Volt-VAR, and Volt-Watt modes. Furthermore, the analysis covers both resistive and inductive feeder types. The validation is performed using a real-time setup. The CIRGE low-voltage (LV) distribution network is simulated in the Opal-RT platform as the test network, enabling realistic and high-fidelity evaluation of SI control interactions under practical grid conditions.

Despite the growing interest in low-altitude economy (LAE) applications, including UAV-based logistics and emergency response, fundamental challenges remain in orchestrating such missions over complex, signal-constrained environments. These include the absence of real-time, resilient, and context-aware orchestration of aerial nodes with limited integration of artificial intelligence (AI) specialized for LAE missions. This paper introduces an open radio access network (O-RAN)-enabled LAE framework that leverages seamless coordination between the disaggregated RAN architecture, open interfaces, and RAN intelligent controllers (RICs) to facilitate closed-loop, AI-optimized, and mission-critical LAE operations. We evaluate the feasibility and performance of the proposed architecture via a semantic-aware rApp that acts as a terrain interpreter, offering semantic guidance to a reinforcement learning-enabled xApp, which performs real-time trajectory planning for LAE swarm nodes. We survey the capabilities of UAV testbeds that can be leveraged for LAE research, and present critical research challenges and standardization needs.

As wireless networks continue to evolve, stringent latency and reliability requirements and highly dynamic channels expose fundamental limitations of gNB-centric massive multiple-input multiple-output (mMIMO) architectures, motivating a rethinking of the user equipment (UE) role. In response, the UE is transitioning from a passive transceiver into an active entity that directly contributes to system-level performance. In this context, this article examines the evolving role of the UE in mMIMO systems during the transition from fifth-generation (5G) to sixth-generation (6G), bridging third generation partnership project (3GPP) standardization, device implementation, and architectural innovation. Through a chronological review of 3GPP Releases 15 to 19, we highlight the progression of UE functionalities from basic channel state information (CSI) reporting to artificial intelligence (AI) and machine learning (ML)-based CSI enhancement and UE-initiated beam management. We further examine key implementation challenges, including multi-panel UE (MPUE) architectures, on-device intelligent processing, and energy-efficient operation, and then discuss corresponding architectural innovations under practical constraints. Using digital-twin-based evaluations, we validate the impact of emerging UE-centric functionalities, illustrating that UE-initiated beam reporting improves throughput in realistic mobility scenarios, while a multi-panel architecture enhances link robustness compared with a single-panel UE.

We present Distortion-Guided Restoration (DGR), a physics-informed hybrid CNN-diffusion framework for acquisition-free correction of severe susceptibility-induced distortions in prostate single-shot EPI diffusion-weighted imaging (DWI). DGR is trained to invert a realistic forward distortion model using large-scale paired distorted and undistorted data synthesized from distortion-free prostate DWI and co-registered T2-weighted images from 410 multi-institutional studies, together with 11 measured B0 field maps from metal-implant cases incorporated into a forward simulator to generate low-b DWI (b = 50 s per mm squared), high-b DWI (b = 1400 s per mm squared), and ADC distortions. The network couples a CNN-based geometric correction module with conditional diffusion refinement under T2-weighted anatomical guidance. On a held-out synthetic validation set (n = 34) using ground-truth simulated distortion fields, DGR achieved higher PSNR and lower NMSE than FSL TOPUP and FUGUE. In 34 real clinical studies with severe distortion, including hip prostheses and marked rectal distension, DGR improved geometric fidelity and increased radiologist-rated image quality and diagnostic confidence. Overall, learning the inverse of a physically simulated forward process provides a practical alternative to acquisition-dependent distortion-correction pipelines for prostate DWI.

The increasing complexity and interconnectedness of systems across various fields have led to a growing interest in studying complex networks, particularly Scale-Free (SF) networks, which best model real-world systems. This paper investigates the influence of clustering on the observability and controllability of complex SF networks, framing these characteristics in the context of structured systems theory. In this paper, we show that densely clustered networks require fewer driver and observer nodes due to better information propagation within clusters. This relationship is of interest for optimizing network design in applications such as social networks and intelligent transportation systems. We first quantify the network observability/controllability requirements, and then, through Monte-Carlo simulations and different case studies, we show how clustering affects these metrics. Our findings offer practical insights into reducing control and observer nodes for sensor/actuator placement, particularly in resource-constrained setups. This work contributes to the understanding of network observability/controllability and presents techniques for improving these features through alterations in network structure and clustering.

Singing voice synthesis (SVS) aims to generate natural and expressive singing waveforms from symbolic musical scores. In cVAE-based SVS, however, a mismatch arises because the decoder is trained with latent representations inferred from target singing signals, while inference relies on latent representations predicted only from conditioning inputs. This discrepancy can weaken fine expressive acoustic details in the synthesized output. To mitigate this issue, we propose FM-Singer, a flow-matching-based latent refinement framework for cVAE-based singing voice synthesis. Rather than redesigning the acoustic decoder, the proposed method learns a continuous vector field that transports inference-time latent samples toward posterior-like latent representations through ODE-based integration before waveform generation. Because the refinement is performed in latent space, the method remains lightweight and compatible with a strong parallel synthesis backbone. Experimental results on Korean and Chinese singing datasets show that the proposed latent refinement improves objective metrics and perceptual quality while maintaining practical synthesis efficiency. These results suggest that reducing training-inference latent mismatch is a useful direction for improving expressive singing voice synthesis. Code, pre-trained checkpoints, and audio demos are available at https://github.com/alsgur9368/FM-Singer.

This work explores the relationship between sensing accuracy and precoding coefficients for edge artificial intelligence (AI) inference in integrated sensing, communication and computation (ISCC) networks. We start by constructing a system model of an over-the-air-empowered ISCC network for edge AI inference, involving distributed edge sensors for feature extraction and an edge server for classification. Based on this model, we introduce a discriminant gain (DG) to characterize sensing accuracy and novelly derive an explicit function of the DG about precoding coefficients, giving valuable insights into precoding design. Guided by this, we propose an effective precoding algorithm to solve a non-convex DG-maximization problem. Simulation results demonstrate that the proposed design achieves up to 15% and 10% sensing accuracy improvements on synthetic and real-world datasets, respectively, over the conventional scheme at low SNR, thereby validating its effectiveness and superiority for edge AI inference in ISCC networks.

Electrocardiography (ECG) is adopted for identity authentication in wearable devices due to its individual-specific characteristics and inherent liveness. However, existing methods often treat heartbeats as homogeneous signals, overlooking the phase-specific characteristics within the cardiac cycle. To address this, we propose a Hierarchical Phase-Aware Fusion~(HPAF) framework that explicitly avoids cross-feature entanglement through a three-stage design. In the first stage, Intra-Phase Representation (IPR) independently extracts representations for each cardiac phase, ensuring that phase-specific morphological and variation cues are preserved without interference from other phases. In the second stage, Phase-Grouped Hierarchical Fusion (PGHF) aggregates physiologically related phases in a structured manner, enabling reliable integration of complementary phase information. In the final stage, Global Representation Fusion (GRF) further combines the grouped representations and adaptively balances their contributions to produce a unified and discriminative identity representation. Moreover, considering ECG signals are continuously acquired, multiple heartbeats can be collected for each individual. We propose a Heartbeat-Aware Multi-prototype (HAM) enrollment strategy, which constructs a multi-prototype gallery template set to reduce the impact of heartbeat-specific noise and variability. Extensive experiments on three public datasets demonstrate that HPAF achieves state-of-the-art results in the comparison with other methods under both closed and open-set settings.

End-to-end automatic speech recognition has become the dominant paradigm in both academia and industry. To enhance recognition performance, the Weighted Finite-State Transducer (WFST) is widely adopted to integrate acoustic and language models through static graph composition, providing robust decoding and effective error correction. However, WFST decoding relies on a frame-by-frame autoregressive search over CTC posterior probabilities, which severely limits inference efficiency. Motivated by establishing a more principled compatibility between WFST decoding and CTC modeling, we systematically study the two fundamental components of CTC outputs, namely blank and non-blank frames, and identify a key insight: blank frames primarily encode positional information, while non-blank frames carry semantic content. Building on this observation, we introduce Keep-Only-One and Insert-Only-One, two decoding algorithms that explicitly exploit the structural roles of blank and non-blank frames to achieve significantly faster WFST-based inference without compromising recognition accuracy. Experiments on large-scale in-house, AISHELL-1, and LibriSpeech datasets demonstrate state-of-the-art recognition accuracy with substantially reduced decoding latency, enabling truly efficient and high-performance WFST decoding in modern speech recognition systems.

CSI extrapolation is an effective method for acquiring channel state information (CSI), essential for optimizing performance of sixth-generation (6G) communication systems. Traditional channel estimation methods face scalability challenges due to the surging overhead in emerging high-mobility, extremely large-scale multiple-input multiple-output (EL-MIMO), and multi-band systems. CSI extrapolation techniques mitigate these challenges by using partial CSI to infer complete CSI, significantly reducing overhead. Despite growing interest, a comprehensive review of state-of-the-art (SOTA) CSI extrapolation techniques is lacking. This paper addresses this gap by comprehensively reviewing the current status, challenges, and future directions of CSI extrapolation for the first time. Firstly, we analyze the performance metrics specific to CSI extrapolation in 6G, including extrapolation accuracy, adaption to dynamic scenarios and algorithm costs. We then review both model-driven and artificial intelligence (AI)-driven approaches for time, frequency, antenna, and multi-domain CSI extrapolation. Key insights and takeaways from these methods are summarized. Given the promise of AI-driven methods in meeting performance requirements, we also examine the open-source channel datasets and simulators that could be used to train high-performance AI-driven CSI extrapolation models. Finally, we discuss the critical challenges of the existing research and propose perspective research opportunities.